EP1930699A2 - Procédé et dispositif destinés à la détermination de positions - Google Patents

Procédé et dispositif destinés à la détermination de positions Download PDF

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Publication number
EP1930699A2
EP1930699A2 EP07122221A EP07122221A EP1930699A2 EP 1930699 A2 EP1930699 A2 EP 1930699A2 EP 07122221 A EP07122221 A EP 07122221A EP 07122221 A EP07122221 A EP 07122221A EP 1930699 A2 EP1930699 A2 EP 1930699A2
Authority
EP
European Patent Office
Prior art keywords
sensor array
gravity
center
bar code
region
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07122221A
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German (de)
English (en)
Other versions
EP1930699B1 (fr
EP1930699A3 (fr
Inventor
Günther Hanns
Heinz Lippuner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leica Geosystems AG
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Leica Geosystems AG
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Publication date
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Publication of EP1930699A2 publication Critical patent/EP1930699A2/fr
Publication of EP1930699A3 publication Critical patent/EP1930699A3/fr
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Publication of EP1930699B1 publication Critical patent/EP1930699B1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34776—Absolute encoders with analogue or digital scales
    • G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2454—Encoders incorporating incremental and absolute signals
    • G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder

Definitions

  • the invention relates to a method according to the preamble of claim 1 and a device according to the preamble of claim. 9
  • a carrier with at least one bar code track and a sensor arrangement for detecting at least one bar code information are used.
  • the detected bar code information makes it possible to determine the sensor position relative to the bar code or to the carrier with the bar code.
  • linear barcodes or divisions are used.
  • determining angular positions bar codes are used in the form of circle divisions.
  • Position determinations with incremental information must start from an exactly detectable zero point and precisely record movements in both directions.
  • the direction of movement is determined, for example, via the phase position between the signals of two sensors offset along the bar code.
  • precise line pitches For high accuracy, extremely small line pitches, multiple tracks side by side and / or interpolation methods must be used.
  • encodings on multiple tracks or encodings on a track readings with a sensor array, for example a diode array, or dynamic readings, for example with a rotating circular graduation, can be used.
  • a sensor array for example a diode array
  • dynamic readings for example with a rotating circular graduation
  • An angular position can be detected exactly, for example, with a circular graduation and a sensor array extending over a section of the circular graduation, in particular a diode array.
  • the circular graduation is divided, for example, into absolutely coded intervals, the sensor array reading the interval number and deriving a rough angle determination therefrom.
  • the position of an interval mark relative to the sensor array is determined from the intensity values of the sensor array.
  • EP 085 951 B1 and DE 199 39 643 A1 describe different solutions for determining the position of the interval mark.
  • EP 085 951 B1 the center of gravity of the interval mark is determined.
  • DE 199 39 643 A1 The position of the interval mark is determined by detecting the edge positions of many dividing lines and from this a single fine value is determined.
  • an incremental Strichannon so a track, at the same time includes a code which allows an absolute position determination.
  • the code is formed by that the bars of the pitch have a different width, but their centerlines have constant distances.
  • This absolute code is read out by a CCD array.
  • An incremental read head enables increment position determination.
  • Absolute and increment position determination can be mutually checked for plausibility. It can also be an eccentric error can be eliminated.
  • the absolute position determination is carried out only in greater time intervals and in between the increment position determination is used.
  • the object of the present invention is to find a simple and fast solution that always allows a precise position determination.
  • the movement of an interval mark in the region of the sensor array can be detected. It is only necessary to track the position of an interval mark. Instead of tracking an interval mark, an arbitrary stroke or the position of the center of gravity of several strokes can also be tracked. The center of gravity of n lines is calculated and the change of this center of gravity during the movement is tracked. The accuracy of the center of gravity determination can be adapted to the requirements, eg by the digitization accuracy (number Bits). If the tracked interval mark or the tracked center of gravity passes into an edge area of the sensor array, a change is made to a more centrally located interval mark or a more centrally located center of gravity.
  • a line is selected and tracked according to a first variant as long as it is visible in the region of the sensor array, in particular of a diode array. Just before it exits the sensor array, it jumps to the next similar line.
  • the movement of the center of gravity of n lines is detected on a sensor array, if necessary, the lines are characterized so that they can be tracked.
  • the absolute code can be recorded in motion-free times. When moving, only the inventive increment detection is preferably performed. An incremental and rapid measurement is thus made possible by an arrangement for absolute position determination by means of a sensor array during movement.
  • a line is also selected and tracked as long as it is visible in the region of the sensor array in the context of the first variant.
  • the difference between this inventive increment determination and a known increment determination is that the movement of at least one stroke on the sensor array is retraced.
  • the known increment determinations only the traversing of lines at a sensor position is detected.
  • the inventive increment determination can be on very fine Divisions are waived. For accuracy, it is important that the sensor array, together with the image of the bar code on the sensor array, allow a fine resolution of the movement of the bar code.
  • an increment determination device which selects at least one bar 1, 2 of the absolute code or possibly an increment code to determine the current position, detects a position shift of the at least one selected bar 1, 2 in the region of the sensor array 3 and from there by means a previously recorded position calculates the changed position.
  • the drawings illustrate the invention with reference to three exemplary embodiments. They represent schematically each a section of a bar code and a sensor array.
  • the bar code is shown as a linear code, but should also be understood as a section of a circle graduation.
  • the distances between the lines shown are different in size, because it is an absolute code with coded intervals. To roughly determine a position, an interval number can be read off. In order to obtain an exact position value, the position of an interval mark relative to the sensor array is determined from the intensity values of the sensor array.
  • the distances between the bars would always be the same.
  • a corresponding zero mark would be provided. After detecting the zero point, the change in the position of at least one line on the sensor array can be determined from the intensity values of the sensor array.
  • bars of a bar code can be used for an increment determination with a sensor array.
  • Fig. 1 shows vertical bars of a barcode.
  • a traced stroke can also over at least one distance to a subsequent stroke, but preferably over two distances to both sides subsequent lines, characterized.
  • the sensor array 3 is preferably a diode array. It goes without saying that all linear sensor arrangements can be used, which make the position of a bar detectable.
  • Fig. 2 shows an embodiment in which not individual tracks are tracked, but stroke packages.
  • a currently traced stroke packet 5 will emerge from the measurement window of the sensor array 3 on the right due to the marked movement direction Rb.
  • For further position detection is then switched to the pursuit of another stroke package 4.
  • At least one characteristic property of the packet can be used, for example the relative distances between the strokes and / or stroke widths. If, in the measurement window of the sensor array 3, only one line packet with the same line spacing can lie at the same time, the accidental determination of a position of another line packet is excluded. For example, the position of a stroke package is set as the center of gravity position.
  • This embodiment is not advantageous for incremental codes with equally spaced bars because the bar packages do not differ from one another.
  • Fig. 3 shows a preferred embodiment in which a partial window 6 is defined on the measuring window of the sensor array 3.
  • the center of gravity shift of the lines contained therein is tracked. If a new stroke comes into the subwindow 6, a new overall center of gravity is detected and tracked with this stroke. Analogously, when a line emerges from the subwindow 6, a new center of gravity is detected without this line and is tracked further.
  • This embodiment can be used with all bar codes.
  • the change of the center of gravity corresponds to the change from one stroke package to another, or from at least one stroke to another.
  • the number of strokes in the fixed subwindow 6 is usually increased or decreased by one. If a stroke occurs at the same time and one exits, the center of gravity position changes abruptly without the number of strokes in the subwindow 6 changing.
  • the center of gravity does not have to be changed continuously during normal movements.
  • the center of gravity must be changed at the earliest when a line has passed over as many sensors as there are at least between two lines.
  • a partial window is a passive choice of at least one stroke, because the choice is made by the entry and exit of lines into or out of the fixed window 6.
  • the processing costs for the active fall Selecting and properly tracking at least one stroke within the entire measurement window of the sensor array 3 away. It must be recognized only the entry and exit of lines in the sub-window 6, resulting in an abrupt shift of the center of gravity.
  • the sub-window 6 is chosen so that there is always at least one line in it. If only a few lines are in the pane, the processing effort to determine the center of gravity is small.
  • the window can be defined according to various aspects. For example, there should be a least image distortion, a lowest sensor contamination, a fastest read-out time or optimal illumination.
  • the size and position of the sub-window 6 are preferably fixed, but if necessary, the size and / or position is changed according to the respective measuring procedure.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Optical Transform (AREA)
  • Control Of Linear Motors (AREA)
EP07122221.0A 2006-12-07 2007-12-04 Procédé et dispositif destinés à la détermination de positions Active EP1930699B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CH19922006 2006-12-07

Publications (3)

Publication Number Publication Date
EP1930699A2 true EP1930699A2 (fr) 2008-06-11
EP1930699A3 EP1930699A3 (fr) 2013-07-10
EP1930699B1 EP1930699B1 (fr) 2018-04-04

Family

ID=38596766

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07122221.0A Active EP1930699B1 (fr) 2006-12-07 2007-12-04 Procédé et dispositif destinés à la détermination de positions

Country Status (3)

Country Link
US (1) US8011112B2 (fr)
EP (1) EP1930699B1 (fr)
CN (1) CN101196409B (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111176296B (zh) * 2020-01-20 2022-06-03 重庆邮电大学 一种基于条形码码盘的移动机器人编队的控制方法
EP3892962B1 (fr) * 2020-04-08 2023-03-08 Dr. Johannes Heidenhain GmbH Agencement pour une mesure de position

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3528955A1 (de) 1984-11-01 1986-04-30 Jenoptik Jena Gmbh, Ddr 6900 Jena Anordnung zur winkelmessung, insbesondere fuer geodaetische geraete
EP0085951B1 (fr) 1982-02-09 1990-04-25 Wild Leitz Ag Procédé et dispositif pour établissement des grandeurs à mesurer
DE4125865A1 (de) 1991-08-03 1993-02-04 Heidenhain Gmbh Dr Johannes Laengen- oder winkelmesseinrichtung
DE4436784A1 (de) 1993-10-26 1995-04-27 Zeiss Carl Fa Absolutes Positionsmeßsystem
DE19939643A1 (de) 1999-08-18 2001-03-22 Zeiss Carl Jena Gmbh Einrichtung und Verfahren zur Positionsbestimmung zwischen zwei relativ zueinander beweglichen Teilen

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EP0013799B1 (fr) * 1978-12-19 1985-10-02 Kabushiki Kaisha Toshiba Equipement de codage pour dispositifs très précis de mesure de longueurs ou d'angles
DE3308814C2 (de) * 1983-03-12 1985-02-07 Dr. Johannes Heidenhain Gmbh, 8225 Traunreut Meßeinrichtung
US4786891A (en) * 1986-04-08 1988-11-22 Yokogawa Electric Corporation Absolute encoder for linear or angular position measurements
DE3617254A1 (de) * 1986-05-22 1987-11-26 Heidenhain Gmbh Dr Johannes Messeinrichtung
GB2197146B (en) * 1986-11-04 1991-05-29 Canon Kk An encoder for detecting the displacement of an object to be measured
US5068529A (en) * 1988-12-22 1991-11-26 Nikon Corporation Absolute position detection encoder
CH683798A5 (fr) * 1990-12-10 1994-05-13 Tesa Sa Capteur de position pour un appareil de mesure de grandeurs linéaires ou angulaires.
AT404300B (de) * 1992-02-20 1998-10-27 Rsf Elektronik Gmbh Drehgeber
FI91325C (fi) * 1992-04-07 1994-06-10 Partek Cargotec Oy Paikka-asteikko ja optinen lukuanturi tämän paikka-asteikon lukemiseksi
US6093928A (en) * 1994-12-22 2000-07-25 Ohtomo; Fumio Position measuring rotary incremental optical encoder
DE19530904B4 (de) * 1995-08-23 2005-08-04 Siemens Ag Vorrichtung zur Erfassung einer Position eines sich relativ zu einer Basis rotatorisch oder translatorisch bewegenden Objektes
DE19532903A1 (de) * 1995-09-07 1997-03-13 Teves Gmbh Alfred Lenkwinkelsensor mit Absolutwertmessung
DE19601676A1 (de) * 1996-01-18 1997-07-24 Teves Gmbh Alfred Lenkwinkelsensor mit Auswertung der Inkrementalspur zur Absolutwertbestimmung
FR2757628B1 (fr) * 1996-12-20 1999-02-26 Eaton Controls Procede et dispositif de mesure numerique de positions angulaires
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JP4131214B2 (ja) * 2003-08-08 2008-08-13 カシオ計算機株式会社 傾斜角度検出装置及び傾斜角度検出方法
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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0085951B1 (fr) 1982-02-09 1990-04-25 Wild Leitz Ag Procédé et dispositif pour établissement des grandeurs à mesurer
DE3528955A1 (de) 1984-11-01 1986-04-30 Jenoptik Jena Gmbh, Ddr 6900 Jena Anordnung zur winkelmessung, insbesondere fuer geodaetische geraete
DE4125865A1 (de) 1991-08-03 1993-02-04 Heidenhain Gmbh Dr Johannes Laengen- oder winkelmesseinrichtung
DE4436784A1 (de) 1993-10-26 1995-04-27 Zeiss Carl Fa Absolutes Positionsmeßsystem
DE19939643A1 (de) 1999-08-18 2001-03-22 Zeiss Carl Jena Gmbh Einrichtung und Verfahren zur Positionsbestimmung zwischen zwei relativ zueinander beweglichen Teilen

Also Published As

Publication number Publication date
US20080140249A1 (en) 2008-06-12
US8011112B2 (en) 2011-09-06
CN101196409A (zh) 2008-06-11
CN101196409B (zh) 2012-12-19
EP1930699B1 (fr) 2018-04-04
EP1930699A3 (fr) 2013-07-10

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